Identification of mechanical parameters for position-controlled servo systems using sinusoidal commands
- Authors
- Yoo, Min-Sik; Choi, Seung-Cheol; Park, Sang-Woo; Yoon, Young-Doo
- Issue Date
- Nov-2020
- Publisher
- SPRINGER HEIDELBERG
- Keywords
- Identification of mechanical parameters; Moment of inertia; Viscous friction coefficient; Coulomb friction; Speed reducer; Off-line identification
- Citation
- JOURNAL OF POWER ELECTRONICS, v.20, no.6, pp.1478 - 1487
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- JOURNAL OF POWER ELECTRONICS
- Volume
- 20
- Number
- 6
- Start Page
- 1478
- End Page
- 1487
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/3644
- DOI
- 10.1007/s43236-020-00135-2
- ISSN
- 1598-2092
- Abstract
- This paper proposes an identification method for mechanical parameters based on position control. To improve motion control performance, the moment of inertia and friction components must be considered. Based on mechanical equations, the proposed method estimates the moment of inertia, viscous friction coefficient, and Coulomb friction in the off-line state. Mechanical parameters are obtained from the integral values for the products of the torque, speed, and position using the 90 degrees phase relationship between acceleration and velocity. Simulation and experimental results demonstrate the validity and accuracy of the proposed method. Since its implementation is simple, this method can be applied easily to industry.
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